rename RcTelemetry to RcContext

src/DotRecast.Core/RcContext.cs

@@ -25,12 +25,25 @@ using System.Threading;
 
 namespace DotRecast.Core
 {
-    public class RcTelemetry
+    /// Provides an interface for optional logging and performance tracking of the Recast 
+    /// build process.
+    /// 
+    /// This class does not provide logging or timer functionality on its 
+    /// own.  Both must be provided by a concrete implementation 
+    /// by overriding the protected member functions.  Also, this class does not 
+    /// provide an interface for extracting log messages. (Only adding them.) 
+    /// So concrete implementations must provide one.
+    ///
+    /// If no logging or timers are required, just pass an instance of this 
+    /// class through the Recast build process.
+    /// 
+    /// @ingroup recast
+    public class RcContext
     {
         private readonly ThreadLocal<Dictionary<string, RcAtomicLong>> _timerStart;
         private readonly ConcurrentDictionary<string, RcAtomicLong> _timerAccum;
 
-        public RcTelemetry()
+        public RcContext()
         {
             _timerStart = new ThreadLocal<Dictionary<string, RcAtomicLong>>(() => new Dictionary<string, RcAtomicLong>());
             _timerAccum = new ConcurrentDictionary<string, RcAtomicLong>();
@@ -41,7 +54,7 @@ namespace DotRecast.Core
             StartTimer(label);
             return new RcAnonymousDisposable(() => StopTimer(label));
         }
-        
+
         public void StartTimer(RcTimerLabel label)
         {
             _timerStart.Value[label.Name] = new RcAtomicLong(RcFrequency.Ticks);

src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs

@@ -62,10 +62,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeBox(
-                hf, center, halfEdges, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+                hf, center, halfEdges, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
 
         public static RcVec3f[] GetHalfEdges(RcVec3f up, RcVec3f forward, RcVec3f extent)

src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs

@@ -38,9 +38,9 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
-            RcFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+            RcFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
 
         private static float[] Bounds(RcVec3f start, RcVec3f end, float radius)

src/DotRecast.Detour.Dynamic/Colliders/DtCollider.cs

@@ -40,6 +40,6 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return _bounds;
         }
 
-        public abstract void Rasterize(RcHeightfield hf, RcTelemetry telemetry);
+        public abstract void Rasterize(RcHeightfield hf, RcContext context);
     }
 }

src/DotRecast.Detour.Dynamic/Colliders/DtCompositeCollider.cs

@@ -68,10 +68,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public void Rasterize(RcHeightfield hf, RcContext context)
         {
             foreach (var c in colliders)
-                c.Rasterize(hf, telemetry);
+                c.Rasterize(hf, context);
         }
     }
 }

src/DotRecast.Detour.Dynamic/Colliders/DtConvexTrimeshCollider.cs

@@ -42,10 +42,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.triangles = triangles;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeConvex(hf, vertices, triangles, area,
-                (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+                (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
     }
 }

src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs

@@ -38,10 +38,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeCylinder(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch),
-                telemetry);
+                context);
         }
 
         private static float[] Bounds(RcVec3f start, RcVec3f end, float radius)

src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs

@@ -36,10 +36,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeSphere(hf, center, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch),
-                telemetry);
+                context);
         }
 
         private static float[] Bounds(RcVec3f center, float radius)

src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs

@@ -58,11 +58,11 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             for (int i = 0; i < triangles.Length; i += 3)
             {
-                RcRasterizations.RasterizeTriangle(telemetry, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
+                RcRasterizations.RasterizeTriangle(context, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
                     hf, (int)MathF.Floor(flagMergeThreshold / hf.ch));
             }
         }

src/DotRecast.Detour.Dynamic/Colliders/IDtCollider.cs

@@ -25,6 +25,6 @@ namespace DotRecast.Detour.Dynamic.Colliders
     public interface IDtCollider
     {
         float[] Bounds();
-        void Rasterize(RcHeightfield hf, RcTelemetry telemetry);
+        void Rasterize(RcHeightfield hf, RcContext context);
     }
 }

src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs

@@ -35,7 +35,7 @@ namespace DotRecast.Detour.Dynamic
         public readonly DtDynamicNavMeshConfig config;
         private readonly RcBuilder builder;
         private readonly Dictionary<long, DtDynamicTile> _tiles = new Dictionary<long, DtDynamicTile>();
-        private readonly RcTelemetry telemetry;
+        private readonly RcContext _context;
         private readonly DtNavMeshParams navMeshParams;
         private readonly BlockingCollection<IDtDaynmicTileJob> updateQueue = new BlockingCollection<IDtDaynmicTileJob>();
         private readonly RcAtomicLong currentColliderId = new RcAtomicLong(0);
@@ -72,7 +72,7 @@ namespace DotRecast.Detour.Dynamic
             }
 
             ;
-            telemetry = new RcTelemetry();
+            _context = new RcContext();
         }
 
         public DtNavMesh NavMesh()
@@ -218,7 +218,7 @@ namespace DotRecast.Detour.Dynamic
         {
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             option.walkableHeight = config.walkableHeight;
-            dirty = dirty | tile.Build(builder, config, telemetry);
+            dirty = dirty | tile.Build(builder, config, _context);
         }
 
         private bool UpdateNavMesh()

src/DotRecast.Detour.Dynamic/DtDynamicTile.cs

@@ -44,12 +44,12 @@ namespace DotRecast.Detour.Dynamic
             this.voxelTile = voxelTile;
         }
 
-        public bool Build(RcBuilder builder, DtDynamicNavMeshConfig config, RcTelemetry telemetry)
+        public bool Build(RcBuilder builder, DtDynamicNavMeshConfig config, RcContext context)
         {
             if (dirty)
             {
-                RcHeightfield heightfield = BuildHeightfield(config, telemetry);
+                RcHeightfield heightfield = BuildHeightfield(config, context);
-                RcBuilderResult r = BuildRecast(builder, config, voxelTile, heightfield, telemetry);
+                RcBuilderResult r = BuildRecast(builder, config, voxelTile, heightfield, context);
                 DtNavMeshCreateParams option = NavMeshCreateParams(voxelTile.tileX, voxelTile.tileZ, voxelTile.cellSize,
                     voxelTile.cellHeight, config, r);
                 meshData = DtNavMeshBuilder.CreateNavMeshData(option);
@@ -59,7 +59,7 @@ namespace DotRecast.Detour.Dynamic
             return false;
         }
 
-        private RcHeightfield BuildHeightfield(DtDynamicNavMeshConfig config, RcTelemetry telemetry)
+        private RcHeightfield BuildHeightfield(DtDynamicNavMeshConfig config, RcContext context)
         {
             ICollection<long> rasterizedColliders = checkpoint != null
                 ? checkpoint.colliders as ICollection<long>
@@ -74,7 +74,7 @@ namespace DotRecast.Detour.Dynamic
                 if (!rasterizedColliders.Contains(cid))
                 {
                     heightfield.bmax.Y = Math.Max(heightfield.bmax.Y, c.Bounds()[4] + heightfield.ch * 2);
-                    c.Rasterize(heightfield, telemetry);
+                    c.Rasterize(heightfield, context);
                 }
             }
 
@@ -87,7 +87,7 @@ namespace DotRecast.Detour.Dynamic
         }
 
         private RcBuilderResult BuildRecast(RcBuilder builder, DtDynamicNavMeshConfig config, DtVoxelTile vt,
-            RcHeightfield heightfield, RcTelemetry telemetry)
+            RcHeightfield heightfield, RcContext context)
         {
             RcConfig rcConfig = new RcConfig(
                 config.useTiles, config.tileSizeX, config.tileSizeZ,
@@ -100,7 +100,7 @@ namespace DotRecast.Detour.Dynamic
                 Math.Min(DtDynamicNavMesh.MAX_VERTS_PER_POLY, config.vertsPerPoly),
                 config.detailSampleDistance, config.detailSampleMaxError,
                 true, true, true, default, true);
-            RcBuilderResult r = builder.Build(vt.tileX, vt.tileZ, null, rcConfig, heightfield, telemetry);
+            RcBuilderResult r = builder.Build(vt.tileX, vt.tileZ, null, rcConfig, heightfield, context);
             if (config.keepIntermediateResults)
             {
                 recastResult = r;

src/DotRecast.Recast/RcAreas.cs

@@ -44,7 +44,7 @@ namespace DotRecast.Recast
         /// @param[in]		erosionRadius		The radius of erosion. [Limits: 0 < value < 255] [Units: vx]
         /// @param[in,out]	compactHeightfield	The populated compact heightfield to erode.
         /// @returns True if the operation completed successfully.
-        public static void ErodeWalkableArea(RcTelemetry context, int erosionRadius, RcCompactHeightfield compactHeightfield)
+        public static void ErodeWalkableArea(RcContext context, int erosionRadius, RcCompactHeightfield compactHeightfield)
         {
             int xSize = compactHeightfield.width;
             int zSize = compactHeightfield.height;
@@ -261,7 +261,7 @@ namespace DotRecast.Recast
         /// @param[in,out]	context		The build context to use during the operation.
         /// @param[in,out]	compactHeightfield		A populated compact heightfield.
         /// @returns True if the operation completed successfully.
-        public static bool MedianFilterWalkableArea(RcTelemetry context, RcCompactHeightfield compactHeightfield)
+        public static bool MedianFilterWalkableArea(RcContext context, RcCompactHeightfield compactHeightfield)
         {
             int xSize = compactHeightfield.width;
             int zSize = compactHeightfield.height;
@@ -344,7 +344,7 @@ namespace DotRecast.Recast
         /// @param[in]		boxMaxBounds		The maximum extents of the bounding box. [(x, y, z)] [Units: wu]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkBoxArea(RcTelemetry context, float[] boxMinBounds, float[] boxMaxBounds, RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
+        public static void MarkBoxArea(RcContext context, float[] boxMinBounds, float[] boxMaxBounds, RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_MARK_BOX_AREA);
 
@@ -446,7 +446,7 @@ namespace DotRecast.Recast
         /// @param[in]		maxY				The height of the top of the polygon. [Units: wu]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkConvexPolyArea(RcTelemetry context, float[] verts,
+        public static void MarkConvexPolyArea(RcContext context, float[] verts,
             float minY, float maxY, RcAreaModification areaId,
             RcCompactHeightfield compactHeightfield)
         {
@@ -567,7 +567,7 @@ namespace DotRecast.Recast
         /// @param[in]		height				The height of the cylinder. [Units: wu] [Limit: > 0]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkCylinderArea(RcTelemetry context, float[] position, float radius, float height,
+        public static void MarkCylinderArea(RcContext context, float[] position, float radius, float height,
             RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);

src/DotRecast.Recast/RcBuilder.cs

@@ -162,7 +162,7 @@ namespace DotRecast.Recast
         public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig builderCfg)
         {
             RcConfig cfg = builderCfg.cfg;
-            RcTelemetry ctx = new RcTelemetry();
+            RcContext ctx = new RcContext();
             //
             // Step 1. Rasterize input polygon soup.
             //
@@ -170,7 +170,7 @@ namespace DotRecast.Recast
             return Build(builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid, ctx);
         }
 
-        public RcBuilderResult Build(int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, RcTelemetry ctx)
+        public RcBuilderResult Build(int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, RcContext ctx)
         {
             FilterHeightfield(solid, cfg, ctx);
             RcCompactHeightfield chf = BuildCompactHeightfield(geom, cfg, ctx, solid);
@@ -259,7 +259,7 @@ namespace DotRecast.Recast
         /*
          * Step 2. Filter walkable surfaces.
          */
-        private void FilterHeightfield(RcHeightfield solid, RcConfig cfg, RcTelemetry ctx)
+        private void FilterHeightfield(RcHeightfield solid, RcConfig cfg, RcContext ctx)
         {
             // Once all geometry is rasterized, we do initial pass of filtering to
             // remove unwanted overhangs caused by the conservative rasterization
@@ -283,7 +283,7 @@ namespace DotRecast.Recast
         /*
          * Step 3. Partition walkable surface to simple regions.
          */
-        private RcCompactHeightfield BuildCompactHeightfield(IInputGeomProvider geom, RcConfig cfg, RcTelemetry ctx, RcHeightfield solid)
+        private RcCompactHeightfield BuildCompactHeightfield(IInputGeomProvider geom, RcConfig cfg, RcContext ctx, RcHeightfield solid)
         {
             // Compact the heightfield so that it is faster to handle from now on.
             // This will result more cache coherent data as well as the neighbours
@@ -306,7 +306,7 @@ namespace DotRecast.Recast
 
         public RcHeightfieldLayerSet BuildLayers(IInputGeomProvider geom, RcBuilderConfig builderCfg)
         {
-            RcTelemetry ctx = new RcTelemetry();
+            RcContext ctx = new RcContext();
             RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(geom, builderCfg, ctx);
             FilterHeightfield(solid, builderCfg.cfg, ctx);
             RcCompactHeightfield chf = BuildCompactHeightfield(geom, builderCfg.cfg, ctx, solid);

src/DotRecast.Recast/RcBuilderResult.cs

@@ -12,9 +12,9 @@ namespace DotRecast.Recast
         private readonly RcPolyMesh pmesh;
         private readonly RcPolyMeshDetail dmesh;
         private readonly RcHeightfield solid;
-        private readonly RcTelemetry telemetry;
+        private readonly RcContext _context;
 
-        public RcBuilderResult(int tileX, int tileZ, RcHeightfield solid, RcCompactHeightfield chf, RcContourSet cs, RcPolyMesh pmesh, RcPolyMeshDetail dmesh, RcTelemetry ctx)
+        public RcBuilderResult(int tileX, int tileZ, RcHeightfield solid, RcCompactHeightfield chf, RcContourSet cs, RcPolyMesh pmesh, RcPolyMeshDetail dmesh, RcContext ctx)
         {
             this.tileX = tileX;
             this.tileZ = tileZ;
@@ -23,7 +23,7 @@ namespace DotRecast.Recast
             this.cs = cs;
             this.pmesh = pmesh;
             this.dmesh = dmesh;
-            telemetry = ctx;
+            _context = ctx;
         }
 
         public RcPolyMesh GetMesh()
@@ -51,9 +51,9 @@ namespace DotRecast.Recast
             return solid;
         }
 
-        public RcTelemetry GetTelemetry()
+        public RcContext GetTelemetry()
         {
-            return telemetry;
+            return _context;
         }
     }
 }

src/DotRecast.Recast/RcCommons.cs

@@ -119,7 +119,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-        public static int[] MarkWalkableTriangles(RcTelemetry ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, RcAreaModification areaMod)
+        public static int[] MarkWalkableTriangles(RcContext ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, RcAreaModification areaMod)
         {
             int[] areas = new int[nt];
             float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
@@ -153,7 +153,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-        public static void ClearUnwalkableTriangles(RcTelemetry ctx, float walkableSlopeAngle, float[] verts, int nv, int[] tris, int nt, int[] areas)
+        public static void ClearUnwalkableTriangles(RcContext ctx, float walkableSlopeAngle, float[] verts, int nv, int[] tris, int nt, int[] areas)
         {
             float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
 

src/DotRecast.Recast/RcCompacts.cs

@@ -57,7 +57,7 @@ namespace DotRecast.Recast
         /// @param[in]		heightfield			The heightfield to be compacted.
         /// @param[out]		compactHeightfield	The resulting compact heightfield. (Must be pre-allocated.)
         /// @returns True if the operation completed successfully.
-        public static RcCompactHeightfield BuildCompactHeightfield(RcTelemetry context, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
+        public static RcCompactHeightfield BuildCompactHeightfield(RcContext context, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
 
@@ -187,7 +187,7 @@ namespace DotRecast.Recast
         ///  @param[in,out]	context		The build context to use during the operation.
         ///  @param[in]		heightfield	An initialized heightfield.
         ///  @returns The number of spans in the heightfield.
-        private static int GetHeightFieldSpanCount(RcTelemetry context, RcHeightfield heightfield)
+        private static int GetHeightFieldSpanCount(RcContext context, RcHeightfield heightfield)
         {
             int w = heightfield.width;
             int h = heightfield.height;

src/DotRecast.Recast/RcContours.cs

@@ -614,7 +614,7 @@ namespace DotRecast.Recast
             return new int[] { minx, minz, leftmost };
         }
 
-        private static void MergeRegionHoles(RcTelemetry ctx, RcContourRegion region)
+        private static void MergeRegionHoles(RcContext ctx, RcContourRegion region)
         {
             // Sort holes from left to right.
             for (int i = 0; i < region.nholes; i++)
@@ -715,7 +715,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
-        public static RcContourSet BuildContours(RcTelemetry ctx, RcCompactHeightfield chf, float maxError, int maxEdgeLen,
+        public static RcContourSet BuildContours(RcContext ctx, RcCompactHeightfield chf, float maxError, int maxEdgeLen,
             int buildFlags)
         {
             int w = chf.width;

src/DotRecast.Recast/RcFilledVolumeRasterization.cs

@@ -30,7 +30,7 @@ namespace DotRecast.Recast
         private const float EPSILON = 0.00001f;
         private static readonly int[] BOX_EDGES = new[] { 0, 1, 0, 2, 0, 4, 1, 3, 1, 5, 2, 3, 2, 6, 3, 7, 4, 5, 4, 6, 5, 7, 6, 7 };
 
-        public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_SPHERE);
             float[] bounds =
@@ -42,7 +42,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectSphere(rectangle, center, radius * radius));
         }
 
-        public static void RasterizeCapsule(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeCapsule(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CAPSULE);
             float[] bounds =
@@ -56,7 +56,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectCapsule(rectangle, start, end, axis, radius * radius));
         }
 
-        public static void RasterizeCylinder(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeCylinder(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CYLINDER);
             float[] bounds =
@@ -70,7 +70,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectCylinder(rectangle, start, end, axis, radius * radius));
         }
 
-        public static void RasterizeBox(RcHeightfield hf, RcVec3f center, RcVec3f[] halfEdges, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeBox(RcHeightfield hf, RcVec3f center, RcVec3f[] halfEdges, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_BOX);
             RcVec3f[] normals =
@@ -120,7 +120,7 @@ namespace DotRecast.Recast
             RasterizationFilledShape(hf, bounds, area, flagMergeThr, rectangle => IntersectBox(rectangle, vertices, planes));
         }
 
-        public static void RasterizeConvex(RcHeightfield hf, float[] vertices, int[] triangles, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeConvex(RcHeightfield hf, float[] vertices, int[] triangles, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CONVEX);
             float[] bounds = new float[] { vertices[0], vertices[1], vertices[2], vertices[0], vertices[1], vertices[2] };

src/DotRecast.Recast/RcFilters.cs

@@ -45,7 +45,7 @@ namespace DotRecast.Recast
         /// @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
         /// 								[Limit: >=0] [Units: vx]
         /// @param[in,out]	heightfield		A fully built heightfield.  (All spans have been added.)
-        public static void FilterLowHangingWalkableObstacles(RcTelemetry context, int walkableClimb, RcHeightfield heightfield)
+        public static void FilterLowHangingWalkableObstacles(RcContext context, int walkableClimb, RcHeightfield heightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
 
@@ -98,7 +98,7 @@ namespace DotRecast.Recast
         /// @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
         /// 								[Limit: >=0] [Units: vx]
         /// @param[in,out]	heightfield			A fully built heightfield.  (All spans have been added.)
-        public static void FilterLedgeSpans(RcTelemetry context, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
+        public static void FilterLedgeSpans(RcContext context, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_BORDER);
 
@@ -219,7 +219,7 @@ namespace DotRecast.Recast
         /// @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
         /// 								be considered walkable. [Limit: >= 3] [Units: vx]
         /// @param[in,out]	heightfield		A fully built heightfield.  (All spans have been added.)
-        public static void FilterWalkableLowHeightSpans(RcTelemetry context, int walkableHeight, RcHeightfield heightfield)
+        public static void FilterWalkableLowHeightSpans(RcContext context, int walkableHeight, RcHeightfield heightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_WALKABLE);
 

src/DotRecast.Recast/RcLayers.cs

@@ -52,7 +52,7 @@ namespace DotRecast.Recast
             return (amin > bmax || amax < bmin) ? false : true;
         }
 
-        public static RcHeightfieldLayerSet BuildHeightfieldLayers(RcTelemetry ctx, RcCompactHeightfield chf, int walkableHeight)
+        public static RcHeightfieldLayerSet BuildHeightfieldLayers(RcContext ctx, RcCompactHeightfield chf, int walkableHeight)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_LAYERS);
 

src/DotRecast.Recast/RcMeshDetails.cs

@@ -439,7 +439,7 @@ namespace DotRecast.Recast
             return EV_UNDEF;
         }
 
-        private static void AddEdge(RcTelemetry ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
+        private static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
         {
             if (edges.Count / 4 >= maxEdges)
             {
@@ -507,7 +507,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        static int CompleteFacet(RcTelemetry ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
+        static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
         {
             const float EPS = 1e-5f;
 
@@ -624,7 +624,7 @@ namespace DotRecast.Recast
             return nfaces;
         }
 
-        private static void DelaunayHull(RcTelemetry ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
+        private static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
         {
             int nfaces = 0;
             int maxEdges = npts * 10;
@@ -828,7 +828,7 @@ namespace DotRecast.Recast
             return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        static int BuildPolyDetail(RcTelemetry ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
+        static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
             int heightSearchRadius, RcCompactHeightfield chf, RcHeightPatch hp, float[] verts, List<int> tris)
         {
             List<int> samples = new List<int>(512);
@@ -1140,7 +1140,7 @@ namespace DotRecast.Recast
         }
 
 
-        static void SeedArrayWithPolyCenter(RcTelemetry ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
+        static void SeedArrayWithPolyCenter(RcContext ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
             int[] verts, int bs, RcHeightPatch hp, List<int> array)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1298,7 +1298,7 @@ namespace DotRecast.Recast
             queue.Add(v3);
         }
 
-        static void GetHeightData(RcTelemetry ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
+        static void GetHeightData(RcContext ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
             int bs, RcHeightPatch hp, int region)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1424,7 +1424,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig
-        public static RcPolyMeshDetail BuildPolyMeshDetail(RcTelemetry ctx, RcPolyMesh mesh, RcCompactHeightfield chf,
+        public static RcPolyMeshDetail BuildPolyMeshDetail(RcContext ctx, RcPolyMesh mesh, RcCompactHeightfield chf,
             float sampleDist, float sampleMaxError)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_POLYMESHDETAIL);
@@ -1614,7 +1614,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
-        private static RcPolyMeshDetail MergePolyMeshDetails(RcTelemetry ctx, RcPolyMeshDetail[] meshes, int nmeshes)
+        private static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_MERGE_POLYMESHDETAIL);
 

src/DotRecast.Recast/RcMeshs.cs

@@ -577,7 +577,7 @@ namespace DotRecast.Recast
             return an;
         }
 
-        private static bool CanRemoveVertex(RcTelemetry ctx, RcPolyMesh mesh, int rem)
+        private static bool CanRemoveVertex(RcContext ctx, RcPolyMesh mesh, int rem)
         {
             int nvp = mesh.nvp;
 
@@ -680,7 +680,7 @@ namespace DotRecast.Recast
             return true;
         }
 
-        private static void RemoveVertex(RcTelemetry ctx, RcPolyMesh mesh, int rem, int maxTris)
+        private static void RemoveVertex(RcContext ctx, RcPolyMesh mesh, int rem, int maxTris)
         {
             int nvp = mesh.nvp;
 
@@ -967,7 +967,7 @@ namespace DotRecast.Recast
         /// limit must be restricted to <= #DT_VERTS_PER_POLYGON.
         ///
         /// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
-        public static RcPolyMesh BuildPolyMesh(RcTelemetry ctx, RcContourSet cset, int nvp)
+        public static RcPolyMesh BuildPolyMesh(RcContext ctx, RcContourSet cset, int nvp)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_POLYMESH);
 
@@ -1212,7 +1212,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMesh, rcPolyMesh
-        public static RcPolyMesh MergePolyMeshes(RcTelemetry ctx, RcPolyMesh[] meshes, int nmeshes)
+        public static RcPolyMesh MergePolyMeshes(RcContext ctx, RcPolyMesh[] meshes, int nmeshes)
         {
             if (nmeshes == 0 || meshes == null)
                 return null;
@@ -1340,7 +1340,7 @@ namespace DotRecast.Recast
             return mesh;
         }
 
-        public static RcPolyMesh CopyPolyMesh(RcTelemetry ctx, RcPolyMesh src)
+        public static RcPolyMesh CopyPolyMesh(RcContext ctx, RcPolyMesh src)
         {
             RcPolyMesh dst = new RcPolyMesh();
 

src/DotRecast.Recast/RcRasterizations.cs

@@ -393,7 +393,7 @@ namespace DotRecast.Recast
         /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag.
         /// 									[Limit: >= 0] [Units: vx]
         /// @returns True if the operation completed successfully.
-        public static void RasterizeTriangle(RcTelemetry context, float[] verts, int v0, int v1, int v2, int areaID,
+        public static void RasterizeTriangle(RcContext context, float[] verts, int v0, int v1, int v2, int areaID,
             RcHeightfield heightfield, int flagMergeThreshold)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
@@ -421,7 +421,7 @@ namespace DotRecast.Recast
         /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag. 
         ///										[Limit: >= 0] [Units: vx]
         /// @returns True if the operation completed successfully.
-        public static void RasterizeTriangles(RcTelemetry context, float[] verts, int[] tris, int[] triAreaIDs, int numTris,
+        public static void RasterizeTriangles(RcContext context, float[] verts, int[] tris, int[] triAreaIDs, int numTris,
             RcHeightfield heightfield, int flagMergeThreshold)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
@@ -454,7 +454,7 @@ namespace DotRecast.Recast
         /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag. 
         /// 									[Limit: >= 0] [Units: vx]
         /// @returns True if the operation completed successfully.
-        public static void RasterizeTriangles(RcTelemetry context, float[] verts, int[] triAreaIDs, int numTris, RcHeightfield heightfield, int flagMergeThreshold)
+        public static void RasterizeTriangles(RcContext context, float[] verts, int[] triAreaIDs, int numTris, RcHeightfield heightfield, int flagMergeThreshold)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
 

src/DotRecast.Recast/RcRegions.cs

@@ -847,7 +847,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static int MergeAndFilterRegions(RcTelemetry ctx, int minRegionArea, int mergeRegionSize, int maxRegionId,
+        private static int MergeAndFilterRegions(RcContext ctx, int minRegionArea, int mergeRegionSize, int maxRegionId,
             RcCompactHeightfield chf, int[] srcReg, List<int> overlaps)
         {
             int w = chf.width;
@@ -1169,7 +1169,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static int MergeAndFilterLayerRegions(RcTelemetry ctx, int minRegionArea, int maxRegionId, RcCompactHeightfield chf, int[] srcReg, List<int> overlaps)
+        private static int MergeAndFilterLayerRegions(RcContext ctx, int minRegionArea, int maxRegionId, RcCompactHeightfield chf, int[] srcReg, List<int> overlaps)
         {
             int w = chf.width;
             int h = chf.height;
@@ -1417,7 +1417,7 @@ namespace DotRecast.Recast
         /// and rcCompactHeightfield::dist fields.
         ///
         /// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone
-        public static void BuildDistanceField(RcTelemetry ctx, RcCompactHeightfield chf)
+        public static void BuildDistanceField(RcContext ctx, RcCompactHeightfield chf)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_DISTANCEFIELD);
 
@@ -1478,7 +1478,7 @@ namespace DotRecast.Recast
         /// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
         ///
         /// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
-        public static void BuildRegionsMonotone(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea,
+        public static void BuildRegionsMonotone(RcContext ctx, RcCompactHeightfield chf, int minRegionArea,
             int mergeRegionArea)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS);
@@ -1660,7 +1660,7 @@ namespace DotRecast.Recast
         /// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
         ///
         /// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
-        public static void BuildRegions(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea,
+        public static void BuildRegions(RcContext ctx, RcCompactHeightfield chf, int minRegionArea,
             int mergeRegionArea)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS);
@@ -1786,7 +1786,7 @@ namespace DotRecast.Recast
             }
         }
 
-        public static void BuildLayerRegions(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea)
+        public static void BuildLayerRegions(RcContext ctx, RcCompactHeightfield chf, int minRegionArea)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS);
 

src/DotRecast.Recast/RcVoxelizations.cs

@@ -25,7 +25,7 @@ namespace DotRecast.Recast
 {
     public static class RcVoxelizations
     {
-        public static RcHeightfield BuildSolidHeightfield(IInputGeomProvider geomProvider, RcBuilderConfig builderCfg, RcTelemetry ctx)
+        public static RcHeightfield BuildSolidHeightfield(IInputGeomProvider geomProvider, RcBuilderConfig builderCfg, RcContext ctx)
         {
             RcConfig cfg = builderCfg.cfg;
 

test/DotRecast.Recast.Test/RecastSoloMeshTest.cs

@@ -101,7 +101,7 @@ public class RecastSoloMeshTest
         long time = RcFrequency.Ticks;
         RcVec3f bmin = geomProvider.GetMeshBoundsMin();
         RcVec3f bmax = geomProvider.GetMeshBoundsMax();
-        RcTelemetry m_ctx = new RcTelemetry();
+        RcContext m_ctx = new RcContext();
         //
         // Step 1. Initialize build config.
         //

test/DotRecast.Recast.Test/RecastTest.cs

@@ -36,7 +36,7 @@ public class RecastTest
         int[] unwalkable_tri = { 0, 2, 1 };
         int nt = 1;
 
-        RcTelemetry ctx = new RcTelemetry();
+        RcContext ctx = new RcContext();
         {
             int[] areas = { 42 };
             RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);